We recently published massrobotics_amr_sender package. This is a configuration-based ROS2 package for sending MassRobotics AMR Interop Standard messages to compliant receivers. So now, any ROS2 robot developer can implement this standard without having to write too much code. In particular the Mass standard provides observability, including localization and other status data.
The package works by mapping ROS topics, environment variables and constants to different message fields as defined by the standard and then sends messages to the server using websockets. The mapping is configurable through a YAML file.
This is all part of our efforts at InOrbit to ease the often complex orchestration of heterogeneous fleets that mix ROS and non-ROS robots in the field. Our team started by researching existing interoperability standards to understand how to help make ROS based robots meet compliance and interact effectively with other robots and applications.
The InOrbit team hopes to continue exploring other standards, like VDA 5050 and OPC-UA, as our work continues so we appreciate any feedback you may have about the package and the interop & standards topic.